mirror of https://github.com/ArduPilot/ardupilot
112 lines
3.3 KiB
C++
112 lines
3.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
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#include "AP_GPS_QURT.h"
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extern "C" {
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#include <csr_gps_api.h>
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#include <csr_gps_common.h>
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}
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extern const AP_HAL::HAL& hal;
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AP_GPS_QURT::AP_GPS_QURT(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
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AP_GPS_Backend(_gps, _state, _port)
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{
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HAP_PRINTF("Trying csr_gps_init");
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int ret = csr_gps_init("/dev/tty-3");
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if (ret == -1) {
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HAP_PRINTF("Trying csr_gps_deinit");
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csr_gps_deinit();
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ret = csr_gps_init("/dev/tty-3");
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}
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if (ret == 0) {
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HAP_PRINTF("Initialised csr_gps");
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initialised = true;
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} else {
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HAP_PRINTF("Failed to initialise csr_gps ret=%d", ret);
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initialised = false;
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}
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}
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AP_GPS_QURT::~AP_GPS_QURT(void)
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{
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if (initialised) {
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csr_gps_deinit();
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}
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}
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// update internal state if new GPS information is available
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bool
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AP_GPS_QURT::read(void)
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{
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if (!initialised) {
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return false;
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}
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struct osp_geo_data data {};
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if (csr_gps_get_geo_data(&data) != 0) {
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return false;
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}
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state.last_gps_time_ms = AP_HAL::millis();
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if (data.tow == last_tow) {
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// same data again
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return false;
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}
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if (data.nav_type & NAV_TYPE_4SV_OR_MORE_KF_SOLUTION ||
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data.nav_type & NAV_TYPE_3SV_KF_SOLUTION) {
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state.status = AP_GPS::GPS_OK_FIX_3D;
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} else if (data.nav_type & NAV_TYPE_2SV_KF_SOLUTION) {
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state.status = AP_GPS::GPS_OK_FIX_2D;
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} else {
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state.status = AP_GPS::NO_FIX;
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}
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state.num_sats = data.sv_in_fix;
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state.hdop = data.HDOP;
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state.vdop = 0;
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state.location.lat = bswap_32(data.lat);
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state.location.lng = bswap_32(data.lon);
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state.location.alt = data.alt_from_MSL;
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state.ground_speed = data.speed_over_ground;
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state.ground_course = data.course_over_ground*0.01f;
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// convert epoch timestamp back to gps epoch - evil hack until we get the genuine
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// raw week information (or APM switches to Posix epoch ;-) )
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state.time_week = data.ext_week_num;
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state.time_week_ms = data.tow;
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if (state.time_week == 0) {
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// reject bad time
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state.status = AP_GPS::NO_FIX;
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}
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state.have_vertical_velocity = true;
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float gps_heading = radians(state.ground_course);
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state.velocity.x = state.ground_speed * cosf(gps_heading);
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state.velocity.y = state.ground_speed * sinf(gps_heading);
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state.velocity.z = -data.climb_rate;
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state.speed_accuracy = data.est_hor_vel_error * 0.01f;
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state.horizontal_accuracy = data.est_hor_pos_error * 0.01f;
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state.vertical_accuracy = data.est_vert_pos_error * 0.01f;
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state.have_speed_accuracy = true;
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return true;
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}
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#endif
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